TMC5130 Support

The driver automatically detects and supports both TMC5130 and TMC5160 chips.

Automatic Detection

The driver detects the chip version during Initialize():

  • TMC5130: Version 0x11
  • TMC5160: Version 0x30

The chip version is read from the IOIN register and stored internally. You can check which chip was detected using:

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uint8_t version = driver.status.GetChipVersion();
if (version == ChipVersion::TMC5130) {
    // TMC5130-specific logic if needed
} else if (version == ChipVersion::TMC5160) {
    // TMC5160-specific logic if needed
}

Differences Handled Automatically

The driver automatically handles differences between TMC5130 and TMC5160:

  1. GLOBAL_SCALER: TMC5130 doesn’t have this register - driver skips it automatically
  2. Current Limits: TMC5130 has internal MOSFETs (1.64A max), TMC5160 uses external MOSFETs
  3. Version Detection: Use driver.status.GetChipVersion() to check detected version

Usage

No special configuration needed - the driver handles differences automatically:

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// Initialize driver (automatically detects chip version)
tmc51x0::DriverConfig cfg;
// ... configure cfg ...

auto init_result = driver.Initialize(cfg);
if (!init_result) {
    printf("Initialization error: %s\n", init_result.ErrorMessage());
    // Handle error
}

// Check which chip was detected
uint8_t version = driver.status.GetChipVersion();
if (version == ChipVersion::TMC5130) {
    printf("Detected TMC5130\n");
} else if (version == ChipVersion::TMC5160) {
    printf("Detected TMC5160\n");
}

Technical Details

GLOBAL_SCALER Register

The TMC5130 doesn’t have the GLOBAL_SCALER register that exists in TMC5160. The driver automatically:

  • Skips writing to GLOBAL_SCALER during SetMotorCurrent() for TMC5130
  • Uses calculated IRUN values directly (without global scaler adjustment)
  • Logs a debug message when GLOBAL_SCALER is skipped

Current Limits

  • TMC5130: Internal MOSFETs with 1.64A maximum current
  • TMC5160: External MOSFETs (current limit depends on external components)

The driver doesn’t enforce these limits automatically - ensure your motor current settings are appropriate for your chip.

Compatibility

The driver is fully compatible with both chips. All features work the same way, with the exception of GLOBAL_SCALER which is automatically skipped for TMC5130.

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